init

2026-07-03 09:44:59 +08:00
commit 15088f9810
33 changed files with 3466 additions and 0 deletions
@@ -0,0 +1,44 @@
+{
+  "name": "prototype",
+  "version": "1.0",
+  "camera": {
+    "resolution_raw": [1920, 1080],
+    "fps": 30,
+    "units": 15,
+    "units_used": 9, 
+    "resolution_stitch": [365, 365],
+    "stitch_res_list": [365,263,123,63]
+  },
+  "stitcher": {
+    "min_area_frac": 0.01,
+    "max_area_frac": 0.05,
+    "max_aspect_ratio": 50,
+    "index": [1,2,3,6,7,8,11,12,13],
+    "margin": 10,
+    "nominal_ov_pos": 100,
+    "n": [3,3],
+    "row_tol": 0.6,
+    "box_size": [250, 250]
+  },
+  "tracker": {
+    "adaptive": true,
+    "lower_threshold": 12.0,
+    "upper_threshold": 18.0,
+    "loop_closure_interval": 1,
+    "algorithm": "dis",
+    "dis_preset": "medium",
+    "dis_mode": 3,
+    "algorithm_list": ["raft", "dis"],
+    "hhd_downsample": 3
+  },
+  "contact": {
+    "min_contour_area": 3000,
+    "flow_threshold":5,
+    "div_threshold":0.05,
+    "expansion_threshold": 0.01,
+    "kernel_size": [5,5],
+    "denoise_sigma": 12
+  }
+}
+
+
@@ -0,0 +1,113 @@
+{
+  "video1": "0",
+  "video2": "1",
+  "sensor_config1": "./config/ddjx01.json",
+  "sensor_config2": "./config/ddjx01.json",
+  "sensor_fps": 30.0,
+  "motion_threshold": 0.0,
+  "sensor_cpu": false,
+  "port": "COM5",
+  "slave_id": 1,
+  "baudrate": 115200,
+  "serial_timeout": 0.2,
+  "open_pos": 0,
+  "close_pos": 9000,
+  "speed": 25,
+  "accel": 80,
+  "decel": 80,
+  "release_open_speed": 50,
+  "release_open_accel": 120,
+  "release_open_decel": 120,
+  "open_force": 15,
+  "close_force": 15,
+  "grip_start_force": 10,
+  "hold_force": 15,
+  "initial_force": 15,
+  "force_min": 10,
+  "force_max": 80,
+  "control_hz": 30.0,
+  "baseline_seconds": 1.0,
+  "filter_alpha": 0.55,
+  "shear_filter_alpha": 0.65,
+  "trigger_normal_force": 0.1,
+  "trigger_shear_force": 0.1,
+  "trigger_clear_stable_seconds": 0.2,
+  "open_wait_stable_samples": 12,
+  "open_wait_stable_range_n": 0.03,
+  "open_wait_stable_trend_n": 0.015,
+  "grip_normal_force": 0.2,
+  "grip_requires_both": true,
+  "close_timeout_seconds": 5.0,
+  "closing_command_interval": 0.2,
+  "force_ramp_step": 1,
+  "force_ramp_interval": 0.1,
+  "grip_settle_seconds": 0.1,
+  "adaptive_grip_enabled": true,
+  "adaptive_shear_start_force": 0.1,
+  "adaptive_shear_full_force": 0.6,
+  "adaptive_force_min": 15,
+  "adaptive_force_max": 45,
+  "adaptive_force_step": 1,
+  "adaptive_force_interval": 0.05,
+  "release_arm_delay_seconds": 0.8,
+  "release_normal_change": 0.2,
+  "release_shear_change": 0.2,
+  "rearm_seconds": 0.5,
+  "recover_normal_force": 0.02,
+  "recover_shear_force": 0.02,
+  "recover_stable_seconds": 0.4,
+  "open_position_recover_enabled": true,
+  "open_position_tolerance": 100,
+  "open_position_stable_seconds": 0.1,
+  "open_position_check_interval": 0.1,
+  "hold_fallback_pos": null,
+  "trigger_force_update": false,
+  "open_at_end": true,
+  "dry_run": false,
+  "normal_force_calibration": {
+    "enabled": true,
+    "method": "piecewise_linear",
+    "extrapolate": true,
+    "clamp_output_min": 0.0,
+    "points": [
+      {
+        "fnormal": 1000.0,
+        "force_n": 0.0
+      },
+      {
+        "fnormal": 10000.0,
+        "force_n": 0.377
+      },
+      {
+        "fnormal": 30000.0,
+        "force_n": 1.377
+      },
+      {
+        "fnormal": 62000.0,
+        "force_n": 2.377
+      }
+    ]
+  },
+  "shear_force_calibration": {
+    "enabled": true,
+    "method": "piecewise_linear",
+    "input": "components",
+    "signed": true,
+    "extrapolate": true,
+    "clamp_output_min": 0.0,
+    "points": [
+      {
+        "raw": 1000.0,
+        "force_n": 0.0
+      },
+      {
+        "raw": 36000.0,
+        "force_n": 1.19
+      },
+      {
+        "raw": 68000.0,
+        "force_n": 2.06
+      }
+    ]
+  }
+}